Orientationability analyses of a special class of the Stewart–Gough parallel manipulators using the unit quaternion representation

This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular.     

Syllabic priming in lexical decision and naming tasks: The syllable congruency effect re-examined in French.

This study investigated the role of the syllable in visual recognition of French words. The syllable congruency procedure was combined with masked priming in the lexical-decision task (Experiments 1 and 3) and the naming task (Experiment 2). Target words were preceded by a nonword prime sharing the first three letters that either corresponded to the syllable (congruent condition), or not (incongruent condition). When primes were displayed for 67 ms, similar results were found in both the lexical decision and the naming tasks. Consonant-vowel targets such as BA.LANCE were recognised more rapidly in the congruent condition than in the incongruent and control conditions, while consonant-vowel-consonant targets such as BAL.CON were recognised more rapidly in the congruent and incongruent conditions than in the control condition. When a 43-ms SOA was used in the lexical-decision task, no significant priming effect was obtained. The results are discussed in an interactive-activation model incorporating syllable units. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A Timing Assumption and Two t-Resilient Protocols for Implementing an Eventual Leader Service in Asynchronous Shared Memory Systems

This paper considers the problem of electing an eventual leader in an asynchronous shared memory system. While this problem has received a lot of attention in message-passing systems, very few solutions have been proposed for shared memory systems. As an eventual leader cannot be elected in a pure asynchronous system prone to process crashes, the paper first proposes to enrich the asynchronous system model with an additional assumption. That assumption (denoted AWB) is particularly weak. It is made up of two complementary parts. More precisely, it requires that, after some time, (1) there is a process whose write accesses to some shared variables be timely, and (2) the timers of (t−f) other processes be asymptotically well-behaved (t denotes the maximal number of processes that may crash, and f the actual number of process crashes in a run). The asymptotically well-behaved timer notion is a new notion that generalizes and weakens the traditional notion of timers whose durations are required to monotonically increase when the values they are set to increase (a timer works incorrectly when it expires at arbitrary times, i.e., independently of the value it has been set to). The paper then focuses on the design of t-resilient AWB-based eventual leader protocols. “t-resilient” means that each protocol can cope with up to t process crashes (taking t=n−1 provides wait-free protocols, i.e., protocols that can cope with any number of process failures). Two protocols are presented. The first enjoys the following noteworthy properties: after some time only the elected leader has to write the shared memory, and all but one shared variables have a bounded domain, be the execution finite or infinite. This protocol is consequently optimal with respect to the number of processes that have to write the shared memory. The second protocol guarantees that all the shared variables have a bounded domain. This is obtained at the following additional price: t+1 processes are required to forever write the shared memory. A theorem is proved which states that this price has to be paid by any protocol that elects an eventual leader in a bounded shared memory model. This second protocol is consequently optimal with respect to the number of processes that have to write in such a constrained memory model. In a very interesting way, these protocols show an inherent tradeoff relating the number of processes that have to write the shared memory and the bounded/unbounded attribute of that memory.     

Rain or Snow Detection in Image Sequences Through Use of a Histogram of Orientation of Streaks

The detection of bad weather conditions is crucial for meteorological centers, specially with demand for air, sea and ground traffic management. In this article, a system based on computer vision is presented which detects the presence of rain or snow. To separate the foreground from the background in image sequences, a classical Gaussian Mixture Model is used. The foreground model serves to detect rain and snow, since these are dynamic weather phenomena. Selection rules based on photometry and size are proposed in order to select the potential rain streaks. Then a Histogram of Orientations of rain or snow Streaks (HOS), estimated with the method of geometric moments, is computed, which is assumed to follow a model of Gaussian-uniform mixture. The Gaussian distribution represents the orientation of the rain or the snow whereas the uniform distribution represents the orientation of the noise. An algorithm of expectation maximization is used to separate these two distributions. Following a goodness-of-fit test, the Gaussian distribution is temporally smoothed and its amplitude allows deciding the presence of rain or snow. When the presence of rain or of snow is detected, the HOS makes it possible to detect the pixels of rain or of snow in the foreground images, and to estimate the intensity of the precipitation of rain or of snow. The applications of the method are numerous and include the detection of critical weather conditions, the observation of weather, the reliability improvement of video-surveillance systems and rain rendering.     

A planar micro-concentrator/injector for low power consumption microchromatographic analysis of benzene and 1,3 butadiene

In the present study, we present the first steps of the development of a low power consumption GC microsystem for the analysis of benzene in the presence of butadiene, involved in petrochemical industrial applications. This system is made by coupling a low power consumption planar microhotplate based on a preconcentrator with good preconcentration capability and a spiral microchromatographic column that presents a separation capability of both compounds at room temperature, when tested in front of a gas sensor. The first characterization results of the device showed a successful injection of benzene and butadiene when placed in front of the micro-separation module.     

Beacon-Less Geographic Routing in Real Wireless Sensor Networks

Geographic Routing(GR)algorithms require nodes to periodically transmit HELLO messages to allow neigh- bors to know their positions(beaconing mechanism).Beacon-less routing algorithms have recently been proposed to reduce the control overheads due to these messages.However,existing beacon-less algorithms have not considered realistic physical layers.Therefore,those algorithms cannot work properly in realistic scenarios.In this paper we present a new beacon- less routing protocol called BOSS.Its design is based on the conclusions of our open-field experiments using Tmote-sky sensors.BOSS is adapted to error-prone networks and incorporates a new mechanism to reduce collisions and duplicate messages produced during the selection of the next forwarder node.We compare BOSS with Beacon-Less Routing(BLR) and Contention-Based Forwarding(CBF)algorithms through extensive simulations.The results show that our scheme is able to achieve almost perfect packet delivery ratio(like BLR)while having a low bandwidth consumption(even lower than CBF).Additionally,we carried out an empirical evaluation in a real testbed that shows the correctness of our simulation results.     

Multiscale comparison of remote-sensing data for linear woody vegetation mapping

Wooded hedgerows do not cover large areas but perform many functions that are beneficial to water quality and biodiversity. A broad range of remotely sensed data is available to map these small linear elements in rural landscapes, but only a few of them have been evaluated for this purpose. In this study, we evaluate and compare various optical remote-sensing data including high and very high spatial resolution, active and passive, and airborne and satellite data to produce quantitative information on the hedgerow network structure and to analyse qualitative information from the maps produced in order to estimate the true value of these maps. We used an object-based image analysis that proved to be efficient for detecting and mapping thin elements in complex landscapes. The analysis was performed at two scales, the hedgerow network scale and the tree canopy scale, on a study site that shows a strong landscape gradient of wooded hedgerow density. The results (1) highlight the key role of spectral resolution on the detection and mapping of wooded elements with remotely sensed data; (2) underline the fact that every satellite image provides relevant information on wooded network structures, even in closed landscape units, whatever the spatial resolution; and (3) indicate that light detection and ranging data offer important insights into future strategies for monitoring hedgerows.     

Modeling the behavior of persons with mild cognitive impairment or Alzheimer’s for intelligent environment simulation

User Modeling and User-Adapted Interaction - Intelligent environments may improve the independence and quality of life of persons with mild cognitive impairment (MCI) or Alzheimer’s disease...     

Do automated program repair techniques repair hard and important bugs?

Existing evaluations of automated repair techniques focus on the fraction of the defects for which the technique can produce a patch, the time needed to produce patches, and how well patches generalize to the intended specification. However, these evaluations have not focused on the applicability of repair techniques and the characteristics of the defects that these techniques can repair. Questions such as “Can automated repair techniques repair defects that are hard for developers to repair?” and “Are automated repair techniques less likely to repair defects that involve loops?” have not, as of yet, been answered. To address such questions, we annotate two large benchmarks totaling 409 C and Java defects in real-world software, ranging from 22K to 2.8M lines of code, with measures of the defect’s importance, the developer-written patch’s complexity, and the quality of the test suite. We then analyze relationships between these measures and the ability to produce patches for the defects of seven automated repair techniques —AE, GenProg, Kali, Nopol, Prophet, SPR, and TrpAutoRepair. We find that automated repair techniques are less likely to produce patches for defects that required developers to write a lot of code or edit many files, or that have many tests relevant to the defect. Java techniques are more likely to produce patches for high-priority defects. Neither the time it took developers to fix a defect nor the test suite’s coverage correlate with the automated repair techniques’ ability to produce patches. Finally, automated repair techniques are less capable of fixing defects that require developers to add loops and new function calls, or to change method signatures. These findings identify strengths and shortcomings of the state-of-the-art of automated program repair along new dimensions. The presented methodology can drive research toward improving the applicability of automated repair techniques to hard and important bugs.